Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both Navigation 2 AMCL and Navigation AMCL nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.
Beluga AMCL currently supports the majority of ROS parameters used in Navigation 2 AMCL.
See Beluga AMCL documentation for further reference.
The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.
| Topic | Type | Description |
|---|---|---|
map |
nav_msgs/OccupancyGrid |
Input topic for map updates. |
scan |
sensor_msgs/LaserScan |
Input topic for laser scan updates. |
initial_pose |
geometry_msgs/PoseWithCovarianceStamped |
Input topic for pose mean and covariance to initialize the particle filter. |
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
pose |
geometry_msgs/PoseWithCovarianceStamped |
Output topic for estimated pose mean and covariance in map frame. |
The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id.
Defaults are map, odom and base.
| Transform | Description |
|---|---|
odom to base |
Input transform used by motion models and resampling policies. |
base to laser |
Input transform used to convert laser scan points to base frame. |
map to odom |
Output transform calculated from the estimated pose mean and the current odom-to-base transform. |
| Topic | Type | Description |
|---|---|---|
reinitialize_global_localization |
std_srvs/Empty |
Request to reinitialize global localization without an initial pose estimate. |
request_nomotion_update |
std_srvs/Empty |
Trigger a forced update of the filter estimates. |
Beluga AMCL currently supports the majority of ROS parameters used in AMCL.
See Beluga AMCL parameter reference for detailed information.
The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.
| Topic | Type | Description |
|---|---|---|
map |
nav_msgs/OccupancyGrid |
Input topic for map updates. |
scan |
sensor_msgs/LaserScan |
Input topic for laser scan updates. |
initialpose |
geometry_msgs/PoseWithCovarianceStamped |
Input topic for pose mean and covariance to initialize the particle filter. |
| Topic | Type | Description |
|---|---|---|
particlecloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
amcl_pose |
geometry_msgs/PoseWithCovarianceStamped |
Output topic for estimated pose mean and covariance in map frame. |
diagnostics |
diagnostic_msgs/DiagnosticArray |
Output topic for node diagnostics. |
The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id.
Defaults are map, odom and base.
| Transform | Description |
|---|---|
odom to base |
Input transform used by motion models and resampling policies. |
base to laser |
Input transform used to convert laser scan points to base frame. |
map to odom |
Output transform calculated from the estimated pose mean and the current odom-to-base transform. |
| Topic | Type | Description |
|---|---|---|
global_localization |
std_srvs/Empty |
Request to reinitialize global localization without an initial pose estimate. |
request_nomotion_update |
std_srvs/Empty |
Trigger a forced update of the filter estimates. |
set_map |
nav_msgs/SetMap |
Set a new map and initial pose estimate. |
| Topic | Type | Description |
|---|---|---|
static_map |
nav_msgs/GetMap |
To retrieve map on initialization, if use_map_topic parameter is false |
Performance reports are periodically generated and uploaded to track performance improvements and regressions. These reports are generated using a set of scripts in the beluga_benchmark package which can be used to compare the performance of beluga_amcl against that of nav2_amcl using a synthetic dataset.
The following plot displays the RSS (Resident Set Size), CPU usage, APE (Absolute Pose Error) and processing latency statistics for both beluga_amcl and nav2_amcl, with particle sizes ranging between 250 and 200000 and sensor model likelihood field.
The following plot displays the RSS (Resident Set Size), CPU usage, APE (Absolute Pose Error) and processing latency statistics for both beluga_amcl and nav2_amcl, with particle sizes ranging between 250 and 200000 and sensor model beam.
Further details can be found in the reports folder here.
- See example launch files showing how to run Beluga-based nodes.
- See available benchmarks for scripts and comparison with other AMCL implementations.